cmake_minimum_required(VERSION 3.0.2)
project(motion_controller)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  nav_msgs
  roscpp
  rospy
  std_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  roslib
)

SET(CMAKE_BUILD_TYPE "Release")
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV REQUIRED)

#uncomment the following 4 lines to use the Eigen library
find_package(cmake_modules REQUIRED)
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN_DEFINITIONS})

# https://www.cnblogs.com/chrislzy/p/14928315.html
# sudo apt install libgoogle-glog-dev
# 0.3.5-1
# locate glog
# xxty@ubuntu:~/trobot_code_ros1/study_ws/devel/lib/cartographer_ros$ ldd cartographer_node |grep glog
#         libglog.so.0 => /usr/lib/x86_64-linux-gnu/libglog.so.0 (0x00007efeb12da000)
# find_package(GFlags REQUIRED)
# find_package(Glog)
# include_directories(${GFLAGS_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS})

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   nav_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES motion_controller
#  CATKIN_DEPENDS nav_msgs roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  core
  ${catkin_INCLUDE_DIRS}
  ${EIGEN_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/motion_controller.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/motion_controller_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_motion_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)


# ${EIGEN_INCLUDE_DIRS}

# motion_controller_core
add_library(motion_controller_core
  core/pixel_2d.h
  core/pose_2d.h
  core/velocity_2d.h
  core/map_utils.h
  core/math_utils.h
  core/math_utils.cpp
  core/msg_convert.h
  core/msg_convert.cpp
  core/robot_model.h
  core/sensor_data.h
  core/core.h
  core/core.cpp
)
target_link_libraries(motion_controller_core
  ${catkin_LIBRARIES}
  # glog
)



# global_planner
add_library(mc_global_planner
  path_planner/global_planner/grid_node.h
  path_planner/global_planner/global_planner_base.h
  path_planner/global_planner/a_star/a_star.h
  path_planner/global_planner/a_star/a_star.cpp
)
target_link_libraries(mc_global_planner
  ${catkin_LIBRARIES}
  motion_controller_core
)

# local_planner
add_library(mc_local_planner
  path_planner/local_planner/local_planner_base.h
  path_planner/local_planner/local_planner_base.cpp
  path_planner/local_planner/dwa/dwa.h
  path_planner/local_planner/dwa/dwa.cpp  
  path_planner/local_planner/move_pose/move_pose.h
  path_planner/local_planner/move_pose/move_pose.cpp  
)
target_link_libraries(mc_local_planner
  ${catkin_LIBRARIES}
  motion_controller_core
)

# global_planner
add_library(mc_path_smoother
  path_planner/smoother/path_smoother.h
  path_planner/smoother/path_smoother.cpp
)
target_link_libraries(mc_path_smoother
  ${catkin_LIBRARIES}
  motion_controller_core
)

# sensor_processor
add_library(mc_sensor_processor
  sensor_handle/sensor_processor.h
  sensor_handle/sensor_processor.cpp
)
target_link_libraries(mc_sensor_processor
  ${catkin_LIBRARIES}
  motion_controller_core
)


## test_global_planner
add_executable(test_global_planner
  test/test_global_planner.h
  test/test_global_planner.cpp
)
add_dependencies(test_global_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_global_planner
  ${catkin_LIBRARIES}
  # ${OpenCV_LIBRARIES}
  motion_controller_core
  mc_path_smoother
  mc_global_planner
)

# test_local_planner
add_executable(test_local_planner
  test/test_local_planner.h
  test/test_local_planner.cpp
)
add_dependencies(test_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_local_planner
  ${catkin_LIBRARIES}
  # ${OpenCV_LIBRARIES}
  motion_controller_core
  mc_path_smoother
  mc_local_planner
)


# test_imu2path
add_executable(test_imu2path
  test/test_imu2path.cpp
)
add_dependencies(test_imu2path ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_imu2path
  ${catkin_LIBRARIES}
)


# test_imu2path
add_executable(test_lidar_undistortion
  sensor_handle/lidar_undistortion_2d.h
  sensor_handle/lidar_undistortion_2d.cpp
  test/test_lidar_undistortion.cpp
)
add_dependencies(test_lidar_undistortion ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_lidar_undistortion
  ${catkin_LIBRARIES}
)

# test_local_planner
add_executable(motion_controller_node
  include/motion_controller/bridge/planner_bridge.h
  src/bridge/planner_bridge.cpp
  include/motion_controller/bridge/sensor_bridge.h
  src/bridge/sensor_bridge.cpp
  include/motion_controller/controller/controller_base.h
  include/motion_controller/controller/controller_p2p.h
  include/motion_controller/motion_controller_node.h
  src/controller/controller_base.cpp
  src/controller/controller_p2p.cpp
  src/motion_controller.cpp
  src/motion_callback.cpp
  src/motion_controller_node.cpp
)
add_dependencies(motion_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(motion_controller_node
  ${catkin_LIBRARIES}
  # ${GFLAGS_LIBRARIES} 
  # ${GLOG_LIBRARIES}
  ${OpenCV_LIBRARIES}
  motion_controller_core
  mc_path_smoother
  mc_global_planner
  mc_local_planner
  mc_sensor_processor
  glog
)

# git clone https://github.com/google/glog.git -b v0.3.5
# mkdir build
# cd build
# cmake ..
# make
# sudo make install
# sudo ldconfig